Siemens SINUMERIK 840Di Function Manual page 757

On such machines the machine axes and geometry axes must have different names.
Fig. 2-16
Machine kinematics
The workpiece is always programmed in a two or threedimensional, rightangled coordinate
system (WCS). However, such workpieces are being programmed ever more frequently on
machine tools with rotary axes or linear axes not perpendicular to one another. Kinematic
transformation is used to represent coordinates programmed in the workpiece coordinate
system (rectangular) in real machine movements.
References:
/FB3/ Description of Functions, Special Functions; 3-Axis to 5-Axis Transformation (F2)
/FB2/ Description of Functions, Expansion Functions; Kinematic Transformation (M1)
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Kinematic transformation between the MCS and BCS
Detailed Description
2.3 Coordinate systems
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